Fully-automatic secondary structure anchoring device and construction method

Abstract

The application provides a full-automatic secondary structure anchor rod planting device and a construction method, which comprises a trolley, the top of the trolley is provided with an xy platform, a stand is arranged on the top of the xy platform, a sliding table is arranged on the vertical side wall of the four sides of the stand, the sliding table is connected with a lifting mechanism, and a drilling device, a hole cleaning device, a glue injection device and an anchor rod inserting device are respectively arranged on the sliding table. During construction, the distance between the calibrated laser beam and the working axis of the drilling device, the hole cleaning device, the glue injection device and the anchor rod inserting device on the horizontal projection plane is obtained to obtain the working stroke of each device; according to the construction steps and the calibrated working stroke, the xy platform sequentially completes the drilling, hole cleaning, glue injection and anchor rod inserting operation at one construction position; after the completion of the full operation at one construction position, the xy platform continues to complete the drilling, hole cleaning, glue injection and anchor rod inserting operation according to the stored construction positions. The application can realize full-automatic construction of anchor rod planting at one array construction position and greatly improve the construction efficiency of anchor rod planting.

Description

Technical Field

[0001] The present invention relates to the field of building structure reinforcement construction equipment, in particular to a fully automatic secondary structure reinforcement planting device and a construction method. Background Art

[0002] During construction, secondary structures (such as infill walls, structural columns, and ring beams) are not cast simultaneously with the primary structure, forming an integral part. By embedding rebar, the rebar in the secondary structure is embedded within primary structural components (such as concrete columns, beams, and slabs). This creates a reliable and secure connection between the secondary structure and the primary structure, effectively transferring loads and internal stresses. This allows the entire building structure to be supported synergistically, enhancing its integrity and stability. The construction steps for embedding rebar in secondary structures include preparation, preparing materials and equipment, drilling holes at the desired rebar locations, cleaning the holes, injecting glue, and then inserting rebar. During construction, embedding rebar at the top is particularly challenging, requiring the use of retractable supports or an operating platform. However, using an operating platform reduces efficiency and increases the number of steps required to set up the platform. Furthermore, it poses significant safety risks for both the platform and workers working at height, increasing construction safety risks. The retractable bracket solution, on the one hand, is difficult to control the positioning of the holes drilled in the ceiling (beam bottom, slab bottom), and on the other hand, it is difficult to precisely control the hole depth, hole diameter, and hole inclination. This can easily lead to problems such as insufficient or excessive hole depth, excessively large or small hole diameters, and skewed drilling. This leads to inaccurate positioning of the rebar and reduces the rebar planting qualification rate. Secondly, post-drilling cleaning of the holes in the ceiling (beam bottom, slab bottom) is inconvenient and incomplete. Thirdly, the fullness of the rebar adhesive injection is difficult to control. Fourthly, the low level of automation results in low construction efficiency and high labor requirements. Chinese patent document CN220667004U describes a device that integrates drilling, hole cleaning, glue injection, and rebar planting. The device includes a bottom fixing member and a top fixing plate, as well as a lifting mechanism positioned between the two. A sliding connector for a device disc is movably mounted on the lifting mechanism. A rotatable device disc is fixedly connected to the outer wall of the device disc sliding connector. A motor is installed inside the rotatable device disc to achieve rotation. The sides of the rotatable device disc are respectively equipped with a drilling machine, a hole cleaning machine, a glue injection machine, and a rebar planting machine. This solution places multiple working structures on a single sliding disc. However, this structure is not suitable for rebar planting with longer lengths. CN217080323U describes an integrated drilling, hole cleaning, and rebar planting device. This device combines the drilling, cleaning, and glue injection operations into a single device, allowing workers to perform all operations using a single device. However, this structure is difficult to automate and requires manual operation throughout, making it a semi-mechanized operation. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a fully automatic secondary structure rebar planting device and construction method, which can realize the full automation of top surface rebar planting operation and greatly improve the efficiency, construction accuracy and construction quality of the rebar planting operation.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: a fully automatic secondary structure rebar embedding device, including a trolley, an xy platform is provided on the top of the trolley, a column is provided on the top of the xy platform, and a slide is provided on the four vertical side walls of the column. The slide is connected to the lifting mechanism, and a drilling device, a hole cleaning device, a glue injection device and a rebar insertion device are respectively provided on the slide.

[0005] In a preferred solution, a walking mechanism is provided at the bottom of the trolley, and a supporting mechanism is also provided on the trolley, and the supporting mechanism is used to support the ground to fix the position of the trolley and keep the trolley in a horizontal state.

[0006] In a preferred embodiment, the xy platform includes an x-direction moving platform and a y-direction moving platform;

[0007] The x-direction moving platform is set on the top of the trolley through the guide rail, and is driven by the motor through the screw nut mechanism to reciprocate along the x-axis direction of the trolley. The y-direction moving platform is set on the top of the x-direction moving platform through the guide rail, and is driven by the motor through the screw nut mechanism to reciprocate along the y-axis direction of the trolley.

[0008] A laser locator is provided on the top of the Y-moving platform, and the laser beam emitted by the laser locator points vertically to the top.

[0009] In the preferred embodiment, eight vertical slide rail seats are provided at the four corners of the column, slide rails are provided on the inner sides of the slide rail seats, and pulleys are provided on both sides of the first slide, the second slide, the third slide and the fourth slide. The pulleys are clamped on the slide rails and driven by the lifting mechanism to move along the slide rails;

[0010] A stroke sensor is provided on each slide.

[0011] In a preferred solution, the lifting mechanism is a pneumatic cylinder, a hydraulic cylinder or an electric push rod, one end of the lifting mechanism is connected to the column, and the other end of the lifting mechanism is connected to the slide.

[0012] In the preferred solution, the structure of the lifting mechanism is as follows: a guide wheel corresponding to each slide is provided at the top of the column, and a plurality of drums corresponding to each guide wheel are provided below the guide wheel. The drum is connected to the winch motor through an elastic coupling and a winch reducer. One end of the corresponding steel wire rope is wound on the drum, and the other end of the steel wire rope passes around the guide wheel and is connected to each slide.

[0013] In a preferred solution, the structure of the drilling device is as follows: the drilling device is fixed on the first slide, the drill bit is installed on the top of the drilling device, and the drill bit is vertically pointed in the direction of the top;

[0014] The structure of the hole cleaning device is as follows: a gas joint is fixedly mounted on the second slide, a hole cleaning brush tube is connected to the gas joint, the hole cleaning brush tube is vertically pointed toward the top, the outer diameter of the hole cleaning brush tube is smaller than the diameter of the drill bit, a brush is provided on the outer wall of the hole cleaning brush tube, and the gas joint is connected to a compression fan through a pipeline, and the compression fan adopts an air compressor or a centrifugal fan;

[0015] A dust collecting cover is also provided on the outer walls of the drill bit and the hole cleaning brush tube, and the dust collecting cover is connected with the dust collector through a hose.

[0016] In a preferred solution, the structure of the glue injection device is as follows: the glue cylinder is fixedly connected to the third slide, the top of the glue cylinder is connected to the glue injection tube, and the outer diameter of the glue injection tube is smaller than the diameter of the drill bit;

[0017] There is a glue plug near the top of the glue injection hose;

[0018] A piston is provided in the rubber cylinder, and the rubber injection screw is connected to the piston. A rubber injection motor is also provided. The rubber injection motor is a through-core stepping or servo motor. The output shaft of the rubber injection motor is connected to the input part of the rubber injection reducer. The output part of the rubber injection reducer is connected to the nut and drives the nut to rotate. The nut is threadedly connected to the rubber injection screw.

[0019] In a preferred embodiment, the structure of the rebar insertion device is as follows: the rebar insertion fixing jaw is fixedly connected to the fourth slide via a cantilever, an opening is provided on one side of the rebar insertion fixing jaw, a space for accommodating a rebar to be inserted is provided at the center of the rebar insertion fixing jaw, the axis of the rebar to be inserted is perpendicular to the top surface, a rotatable rebar insertion rotating jaw is provided in the rebar insertion fixing jaw, and an opening is also provided on one side of the rebar insertion rotating jaw, when the rebar insertion rotating jaw is rotated to the opening position of the rebar insertion fixing jaw, the diameter of the space for accommodating the rebar to be inserted is reduced to clamp the rebar to be inserted;

[0020] A spiral tooth is provided on the outer wall of the rebar inserting rotating clamp, and a rebar inserting locking motor is fixed on the cantilever. The rebar inserting locking motor is connected to the rebar inserting locking screw, and the rebar inserting locking screw is meshed with the spiral tooth to drive the rebar inserting rotating clamp to rotate back and forth;

[0021] A rebar storage tank is provided on one side of the rebar fixing clamp, which is used to store multiple rebars to be inserted. An opening facing the rebar fixing clamp is provided on one side of the rebar storage tank. A rebar limiting mechanism is provided near the opening of the rebar storage tank, and a rebar push rod is provided at a position away from the opening of the rebar storage tank. The rebar push rod is used to push the rebar to be inserted into the space of the rebar fixing clamp.

[0022] A construction method using the above-mentioned fully automatic secondary structure rebar planting device comprises the following steps:

[0023] S1. Calibration: Fix the laser locator on the surface of the xy platform so that the laser beam of the laser locator is perpendicular to the top surface;

[0024] Calibrate the distance between the laser beam and the working axis of the drilling device, hole cleaning device, glue injection device and reinforcement insertion device on the horizontal projection plane to obtain the working stroke of each device;

[0025] S2. Positioning: Move the trolley to the construction site, operate the support mechanism to fix and level the trolley, make the travel range of the xy platform cover the construction range, operate the terminal or input the coordinates, move the xy platform, and align the laser beam with the first construction position;

[0026] Operate the terminal or input coordinates in sequence to aim the laser beam at the next construction location;

[0027] The control system stores each construction location;

[0028] S3. Execution: According to the construction steps and the calibrated working stroke, the xy platform moves the working axes of the drilling device, hole cleaning device, glue injection device, and rebar insertion device in sequence to align with the construction position, and controls the lifting devices of the drilling device, hole cleaning device, glue injection device, and rebar insertion device to complete the operations of drilling, hole cleaning, glue injection, and rebar insertion at one construction position;

[0029] After all operations are completed at one construction location, the XY platform continues to complete drilling, hole cleaning, glue injection and reinforcement insertion operations according to the stored construction locations;

[0030] S4, construction is completed and all lifting devices return to their positions;

[0031] The above steps can realize the fully automated construction of secondary structure reinforcement.

[0032] The present invention provides a fully automatic secondary structure rebar planting device and construction method, which has the following beneficial effects:

[0033] 1. The present invention integrates the operations of drilling, hole cleaning, glue injection and rebar insertion on a trolley, and can realize fully automatic rebar planting construction at one array construction position at a time, greatly improving the construction efficiency of rebar planting.

[0034] 2. The present invention adopts a structure in which slides are set on the four sides of the column, which has good force rigidity and can meet the requirements of anchor bar construction in indoor spaces with a net height of more than 3 meters. It also has high construction accuracy and can ensure the accuracy of hole depth, hole diameter and hole body inclination.

[0035] 3、The reinforcing device of the application can store multiple steel bars at one time, and can realize automatic steel bar feeding and automatic reinforcing operation, and has simple structure, easy processing and implementation, small space occupation, and can meet the size of steel bars to be inserted with long length, such as steel bars with length more than 1 / 2-3 / 4 of net height.

[0036] 4、The application can realize rapid positioning and storage of working position by using a simple laser positioner, and can reproduce again by accurate calibration in subsequent construction process, so as to realize automatic and high-precision construction.

[0037] 5、The application has simple structure, small size, light weight, portability, and easy implementation.

[0038] 6、The construction method of the application can realize one-time automatic construction of a group of array secondary reinforcing, and belongs to an innovative process method. BRIEF DESCRIPTION OF DRAWINGS

[0039] The application will be further described below in combination with the drawings and embodiments:

[0040] Figure 1 is a front view structural schematic diagram of the application.

[0041] Figure 2 is a top view schematic diagram of the column structure of the application.

[0042] Figure 3 is a structural schematic diagram of the lifting mechanism of the application.

[0043] Figure 4 is a structural schematic diagram of the glue injection device of the application.

[0044] Figure 5 is a structural schematic diagram of the reinforcing device of the application.

[0045] Figure 6 is an A-A sectional view schematic diagram of Figure 5 .

[0046] Figure 7 is a flow chart of the construction method of the application.

[0047] In the figure: trolley 1, support mechanism 101, walking mechanism 102, column 2, slide rail seat 21, slide rail 22, xy platform 3, x-direction moving platform 31, y-direction moving platform 32, slide 4, first slide 41, second slide 42, third slide 43, fourth slide 44, pulley 45, lifting mechanism 5, drum 51, guide wheel 52, wire rope 53, elastic coupling 54, winch reducer 55, winch motor 56, glue injection device 6, glue injection tube 61, glue plug 62, piston 63, nut 64, glue injection Reducer 65, glue injection motor 66, glue injection screw 67, glue cylinder 68, drilling device 7, drill bit 71, drilling rig device 72, hole cleaning device 8, hole cleaning brush tube 81, gas connector 82, rebar insertion device 9, rebar insertion push rod 91, rebar insertion storage tank 92, rebar to be inserted 93, rebar insertion fixing jaw 94, rebar insertion rotating jaw 95, rebar insertion locking screw 96, rebar insertion locking motor 97, cantilever 98, rebar insertion limiting mechanism 99, dust collection hood 10, vacuum cleaner 11, pipeline 12, compressor fan 13, laser locator 14. DETAILED DESCRIPTION

[0048] Example 1:

[0049] like Figure 1 、 2 In the invention, a fully automatic secondary structure rebar planting device is provided, comprising a trolley 1, an xy platform 3 is provided on the top of the trolley 1, a column 2 is provided on the top of the xy platform 3, a slide 4 is provided on the four vertical side walls of the column 2, the slide 4 is connected to a lifting mechanism 5, and a drilling device 7, a hole cleaning device 8, a glue injection device 6 and a rebar insertion device 9 are provided on the slide 4. With this structure, the trolley 1 can be conveniently moved to a position where rebar planting construction is required, and the xy platform 3 can move the column 2 to an appropriate position through precise horizontal displacement, so that the drilling device 7, the hole cleaning device 8, the glue injection device 6 and the rebar insertion device 9 are respectively aligned with the positions where construction is required, thereby performing drilling, hole cleaning, glue injection and rebar insertion construction.

[0050] The preferred solution is Figure 1 In the figure, the bottom of the trolley 1 is provided with a walking mechanism 102, and the trolley 1 is further provided with a supporting mechanism 101. The supporting mechanism 101 is used to support the ground to fix the position of the trolley 1 and keep the trolley 1 in a horizontal state. The supporting mechanism 101 is preferably a screw mechanism. By rotating the supporting mechanism 101, the support feet of the screw mechanism fall to the ground. The screw mechanisms are adjusted and the trolley 1 is kept in a horizontal state using a level meter.

[0051] The preferred solution is Figure 1 In the embodiment, the xy platform 3 includes an x-direction moving platform 31 and a y-direction moving platform 32;

[0052] The x-axis platform 31 is mounted on top of the trolley 1 via guide rails and is driven by a motor through a screw-nut mechanism for reciprocating motion along the trolley 1's x-axis. The y-axis platform 32 is mounted on top of the x-axis platform 31 via guide rails and is driven by a motor through a screw-nut mechanism for reciprocating motion along the trolley 1's y-axis. The xy platform 3 is a commonly used structure in the prior art. In this example, the column 2 is fixedly connected to the top of the y-axis platform 32 via a screw. A rubber pad is installed at the bottom of the column 2 to reduce the impact of vibration on the xy platform 3.

[0053] A laser locator 14 is provided on the top of the y-moving platform 32, and the laser beam emitted by the laser locator 14 is vertically pointed to the top. The laser beam of the laser locator 14 is perpendicular to the plane of the top plate, and the laser locator 14 is set in a place where it is not blocked by various devices. The working axis of each drilling device 7, hole cleaning device 8, glue injection device 6 and rebar insertion device 9 is calibrated on the top of the y-moving platform 32. This is to facilitate the positioning of the distance between the axis of the laser beam and the working axis of each device. The working axis of the drilling device 7 is the axis of the drill bit 71, the working axis of the hole cleaning device 8 is the axis of the hole cleaning brush tube 81, the working axis of the glue injection device 6 is the axis of the glue injection tube 61, and the working axis of the rebar insertion device 9 is the axis of the rebar 93 to be inserted in the space of the rebar fixing clamp 94. During the calibration process, the distance between the laser beam and each working axis is measured directly on the top of the y-moving platform 32. Alternatively, in the control system, a plane coordinate system is established at the top of the y-moving platform 32. The coordinates of each working axis are first calibrated, and then the coordinates of the laser positioner 14 are calibrated. The coordinates of the laser beam are set as the origin. The coordinates of each working axis then represent the required displacement and direction relative to the origin coordinates when the xy platform 3 performs the corresponding processes of drilling, hole cleaning, glue injection, and rebar insertion. Preferably, the laser positioner 14 also serves as a laser rangefinder, measuring the distance between the y-moving platform 32 and the top working surface. This distance parameter is also output as data for fully automatic control.

[0054] The preferred solution is Figure 2 In the figure, eight vertical slide rail seats 21 are provided at the four corners of the column 2, and slide rails 22 are provided on the inner sides of the slide rail seats 21. Pulleys 45 are provided on both sides of the first slide 41, the second slide 42, the third slide 43 and the fourth slide 44. The pulleys 45 are clamped on the slide rails 22 and driven by the lifting mechanism 5 to move along the slide rails 22. With this structure, the processing difficulty is greatly reduced, and it is easy to process and manufacture.

[0055] A stroke sensor is provided on each slide 4. The stroke of each slide 4 is collected by the stroke sensor, so that the working depth of drilling, hole cleaning, glue injection and rebar insertion, that is, the drilling depth, hole cleaning insertion depth, glue injection insertion depth and rebar insertion depth, can be controlled. Avoid situations where the drilling depth is insufficient or too deep. It is also more convenient to adapt to construction positions at different heights. For example, the top beam and top plate are located at different heights, and the stroke of the slide 4 needs to be dynamically adjusted. Further preferably, the stroke sensor includes an absolute value sensor provided in a drive mechanism, such as a winch motor 56, or a magnetostrictive displacement sensor provided in a cylinder, hydraulic cylinder or electric push rod, or a non-contact Hall sensor provided on each slide 4.

[0056] In a preferred embodiment, the lifting mechanism 5 is a pneumatic cylinder, hydraulic cylinder, or electric push rod. One end of the lifting mechanism 5 is connected to the column 2, and the other end of the lifting mechanism 5 is connected to the slide 4. This solution is suitable for construction sites with low heights, such as those below 3 meters. An excessively long lifting mechanism 5 can significantly increase costs, or result in poor stress resistance and inconvenience in construction.

[0057] The preferred solution is Figure 2 、 3 The structure of the lifting mechanism 5 is as follows: a guide wheel 52 corresponding to each slide 4 is provided at the top of the column 2, and a plurality of drums 51 corresponding to each guide wheel 52 are provided below the guide wheel 52. The drums 51 are connected to the hoisting motor 56 via an elastic coupling 54 and a hoisting reducer 55. One end of the corresponding steel wire rope 53 is wound around the drum 51, and the other end of the steel wire rope 53 passes through the guide wheel 52 and is connected to each slide 4. This structure is suitable for high-height spaces, such as construction sites with a height of more than 3 meters.

[0058] The preferred solution is Figure 1 、 2 In the embodiment, the drilling device 7 is structured as follows: the drilling device 72 is fixed on the first slide 41, and the drill bit 71 is mounted on the top of the drilling device 72, with the drill bit 71 pointing vertically toward the top. To save costs, the drilling device 72 in this example can directly adopt an existing impact drill, and the drilling device 72 is fixed to the first slide 41 with a corresponding clamp. Ensure that the axis of the drill bit 71 is perpendicular to the top surface and that the axis of the drill bit 71 corresponds to the calibrated position of the top working axis of the Y-axis movable platform 32.

[0059] like Figure 1The structure of the hole cleaning device 8 is as follows: a gas connector 82 is fixed on the second slide 42, a hole cleaning brush tube 81 is connected to the gas connector 82, the hole cleaning brush tube 81 is vertically pointed toward the top, the outer diameter of the hole cleaning brush tube 81 is smaller than the diameter of the drill bit 71, a brush is provided on the outer wall of the hole cleaning brush tube 81, and the gas connector 82 is connected to a compressor 13 via a pipeline 12. The compressor 13 is an air compressor or a centrifugal fan. In this example, the outer diameter of the hole cleaning brush tube 81 is only slightly smaller than the diameter of the drill bit 71, and the compressor 13 is preferably a 0.6 MPa high-pressure air compressor. The brush and high-speed compressed air clean the inner wall of the drill hole, eliminating floating dust and preventing unstable and easily detachable structures.

[0060] A further preferred structure is Figure 1 In the embodiment, a dust collecting cover 10 is also provided on the outer wall of the drill bit 71 and the hole cleaning brush tube 81, and the dust collecting cover 10 is connected to the dust collector 11 through a hose. With this structure, dust in the drilling or hole cleaning process can be absorbed.

[0061] The preferred solution is Figure 1 、 2 4, the structure of the glue injection device 6 is: the glue cylinder 68 is fixedly connected to the third slide 43, the top of the glue cylinder 68 is connected to the glue injection tube 61, and the outer diameter of the glue injection tube 61 is slightly smaller than the diameter of the drill bit 71; when the glue injection tube 61 is inserted into the drill hole and glue is injected into the drill hole, the glue injection tube 61 itself will occupy a certain space, thereby avoiding excessive glue injection to save costs.

[0062] A glue plug 62 is provided near the top of the glue injection tube 61 ; the provided glue plug 62 can avoid waste of glue and can ensure that the glue fully fills the drill hole and is dense under the action of pressure.

[0063] A piston 63 is disposed within the rubber cylinder 68, and a rubber injection screw 67 is connected to the piston 63. A rubber injection motor 66 is also provided. The rubber injection motor 66 is a through-hole stepper or servo motor. The output shaft of the rubber injection motor 66 is connected to the input of a rubber injection reducer 65. The output of the rubber injection reducer 65 is connected to a nut 64, which drives the nut 64 to rotate. The nut 64 is threadedly connected to the rubber injection screw 67. By controlling the rotation angle of the rubber injection motor 66, the rotation angle of the nut 64 is precisely controlled, and thus the stroke of the piston 63 is precisely controlled, thereby achieving precise control of the rubber injection amount.

[0064] The preferred solution is Figure 2 、 5, 6, the structure of the rebar insertion device 9 is as follows: the rebar insertion fixing clamp 94 is fixedly connected to the fourth slide 44 through a cantilever 98. Preferably, the length of the cantilever 98 is such that the axis of the rebar 93 to be inserted falls outside the y-direction movable platform 32, or an opening is provided at a position corresponding to the y-direction movable platform 32, so as to facilitate setting a temporary pier at the bottom of the inserted rebar. An opening is provided on one side of the rebar insertion fixing clamp 94, and a space for accommodating the rebar 93 to be inserted is provided at the center position of the rebar insertion fixing clamp 94, and the axis of the rebar 93 to be inserted is perpendicular to the top surface. A rotatable rebar insertion rotating clamp 95 is provided in the rebar insertion fixing clamp 94, and an opening is also provided on one side of the rebar insertion rotating clamp 95. When the rebar insertion rotating clamp 95 rotates to the opening position of the rebar insertion fixing clamp 94, the diameter of the space for accommodating the rebar 93 to be inserted is reduced to clamp the rebar 93 to be inserted;

[0065] A spiral tooth is provided on the outer wall of the rebar inserting rotating clamp 95, and a rebar inserting locking motor 97 is fixed on the cantilever 98. The rebar inserting locking motor 97 is connected to the rebar inserting locking screw 96, and the rebar inserting locking screw 96 is meshed with the spiral tooth to drive the rebar inserting rotating clamp 95 to rotate back and forth;

[0066] A rebar storage tank 92 is located on one side of the rebar fixing jaw 94. This storage tank is used to store multiple rebars 93 to be inserted. An opening is provided on one side of the rebar storage tank 92, facing the rebar fixing jaw 94. A rebar limiting mechanism 99 is located near the opening of the rebar storage tank 92. In this example, this mechanism is preferably a spring bullseye, i.e., a steel ball with a spring, facing the rebar to limit its position. A rebar pusher 91 is located away from the opening of the rebar storage tank 92. This pusher is preferably an electric pusher and is used to push the rebar 93 to be inserted into the space between the rebar fixing jaws 94. This structure greatly facilitates rebar insertion, particularly enabling continuous rebar insertion and simultaneous installation of temporary buttresses.

[0067] A control system is also provided, preferably a PLC in this example. The laser positioner 14, travel sensor, and rotation angle sensors for each motor are connected to the PLC input. The PLC output is electrically connected to the travel mechanism 102, xy platform 3, lifting mechanism 5, drilling unit 72, compressor fan 13, vacuum cleaner 11, glue injection motor 66, rebar push rod 91, and rebar locking motor 97 to control the operation of these actuators. A wireless communicator is also provided, preferably using Wi-Fi for communication with a terminal. In this example, an industrial computer with an Android control interface is also provided, and the terminal uses a mobile phone to input parameters.

[0068] Example 2:

[0069] like Figure 7A construction method using the above-mentioned fully automatic secondary structure rebar planting device comprises the following steps:

[0070] S1, calibration, fix the laser locator 14 on the surface of the xy platform 3 so that the laser beam of the laser locator 14 is perpendicular to the top surface;

[0071] The distance between the laser beam and the working axis of the drilling device 7, the hole cleaning device 8, the glue injection device 6 and the reinforcing device 9 on the horizontal projection plane is calibrated to obtain the working stroke of each device; preferably, the position where the laser beam of the laser locator 14 is positioned is used as the origin, and the working axes of other devices are also calibrated on the surface of the y-direction movable platform 32. The coordinates of each working axis relative to the origin are the displacement of the xy platform 3 during the construction process. That is, the drilling device 7 is (x 钻 、y 钻 ), the hole cleaning device 8 is (x 清 、y 清 ), the glue injection device 6 is (x 注 、y 注 ), the reinforcing bar device 9 is (x 插 、y 插 ).

[0072] S2. Positioning: Move the trolley 1 to the construction site, operate the support mechanism 101 to fix and level the trolley 1, make the travel range of the xy platform 3 cover the construction range, operate the terminal or input coordinates, move the xy platform 3, and align the laser beam with the first construction position;

[0073] Operate the terminal or input coordinates in sequence to aim the laser beam at the next construction location;

[0074] The control system stores each construction location;

[0075] S3. Execution: According to the construction steps and the calibrated working stroke, the xy platform 3 sequentially moves the working axes of the drilling device 7, the hole cleaning device 8, the glue injection device 6, and the rebar insertion device 9 to align with the construction position, and controls the lifting devices of the drilling device 7, the hole cleaning device 8, the glue injection device 6, and the rebar insertion device 9 to complete the operations of drilling, cleaning, glue injection, and rebar insertion at one construction position;

[0076] After all operations are completed at one construction location, the xy platform 3 continues to complete the operations of drilling, cleaning holes, injecting glue, and inserting reinforcement according to the stored construction locations;

[0077] S4, construction is completed and all lifting devices return to their positions;

[0078] The above steps can realize the fully automated construction of secondary structure reinforcement.

[0079] Example 3:

[0080] On the basis of Example 2, a group of 6×6 embedded bars are constructed at the top beam position. First, the trolley 1 is moved to the bottom of the top beam construction position, and the laser locator 14 is used to assist in positioning to ensure that the displacement range of the xy platform 3 covers the top beam construction position. The support mechanism 101 is extended and pressed against the ground to lift the trolley 1 and the wheel group of the walking mechanism 102 leaves the ground. The top of the trolley 1 is leveled using the spirit level on the trolley 1. The xy platform 3 is controlled by a mobile phone terminal to position the laser locator 14 with the position of the 6×6 embedded bars in turn, that is, the xy platform 3 is moved in turn to align the laser beam of the laser locator 14 with the position of the 6×6 embedded bars, and the industrial computer stores the position and the measured distance. First, the position of the 6×6 embedded bars is drilled, and the PLC calculates the distance according to the calibrated (x 钻 、y 钻 ) Move the drilling device 7 to align with the first rebar planting position, calculate the lifting height of the slide 4 based on the measured distance, first return the slide to zero position, PLC operates the hoisting motor 56 of the lifting mechanism 5, inputs the calculated angle parameter, the hoisting motor 56 lifts the preset height, and the drilling device 72 rotates at the same time. Preferably, the hoisting motor 56 adopts a fixed torque output. When the preset torque is exceeded, the hoisting motor 56 stops to avoid damage to the hoisting motor 56 due to drilling resistance. According to the previously located 6×6 rebar positions, the drilling is completed in sequence. At the same time, the PLC controls the vacuum cleaner 11 to work and suck away the dust. The PLC controls the compressed air blower 13, which is the air compressor start-up in this case. The PLC controls the xy platform 3 to align the hole cleaning brush tube 81 of the hole cleaning device 8 with each drill hole. The PLC controls the lifting mechanism to extend the hole cleaning brush tube 81 into the drill hole. The valve of the air compressor is opened, and the compressed air cleans the drill hole to complete the hole cleaning construction of each drill hole. The PLC controls the xy platform 3 to align the glue injection device 6 with each drill hole in sequence. At each drill hole, the PLC controls the lifting mechanism to extend the glue injection tube 61 into the drill hole. The PLC controls the glue injection motor 66 to rotate at a preset angle, injecting a predetermined amount of glue into the drill hole and filling it tightly with the help of the glue plug 62. The PLC controls the xy platform 3 to align the rebar insertion device 9 with each drill hole in sequence. The rebar insertion push rod 91 is an electric push rod that pushes a rebar into the rebar insertion clamp 94. The rebar insertion locking motor 97 rotates, and the rebar insertion locking screw 96 drives the rebar insertion rotating clamp 95 to rotate, sealing the opening of the rebar insertion clamp 94 and locking the rebar. At the same time, it pushes the extra rebar back into the rebar insertion tank 92, where it is blocked by the rebar insertion limiter 99. The PLC controls the lifting mechanism 5 to raise the rebar insertion clamp 94 and insert the rebar into the glued drill hole. The bottom of the rebar is supported and secured by a temporary buttress. Through the above steps, the 6×6 rebar planting construction is completed in a fully automatic manner.

[0081] Although the present application has been described with reference to specific features and embodiments thereof, it is apparent that various modifications and combinations may be made thereto without departing from the spirit and scope of the present application. Accordingly, this specification and the drawings are merely illustrative of the present application as defined by the appended claims and are deemed to cover any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, those skilled in the art may make various modifications and variations to the present application without departing from the scope of the present application. Thus, the present application is intended to include such modifications and variations if they fall within the scope of the claims of the present application and their equivalents.

Claims

1. A fully automatic secondary structure rebar planting device, characterized by: The invention comprises a trolley (1), wherein an xy platform (3) is provided on the top of the trolley (1), a column (2) is provided on the top of the xy platform (3), a slide (4) is provided on the four vertical side walls of the column (2), the slide (4) is connected to a lifting mechanism (5), and a drilling device (7), a hole cleaning device (8), a glue injection device (6) and a reinforcement insertion device (9) are respectively provided on the slide (4); The xy platform (3) includes an x-direction moving platform (31) and a y-direction moving platform (32); Eight vertical slide rail seats (21) are provided at the four corners of the column (2), and slide rails (22) are provided on the inner sides of the slide rail seats (21). Pulleys (45) are provided on both sides of the first slide (41), the second slide (42), the third slide (43) and the fourth slide (44). The pulleys (45) are clamped on the slide rails (22) and are driven by the lifting mechanism (5) to move along the slide rails (22); The structure of the rebar insertion device (9) is as follows: the rebar insertion fixing clamp (94) is fixedly connected to the fourth slide (44) through a cantilever (98), an opening is provided on one side of the rebar insertion fixing clamp (94), a space for accommodating a rebar (93) to be inserted is provided at the center position of the rebar insertion fixing clamp (94), the axis of the rebar (93) to be inserted is perpendicular to the top surface, a rotatable rebar insertion rotating clamp (95) is provided in the rebar insertion fixing clamp (94), and an opening is also provided on one side of the rebar insertion rotating clamp (95), when the rebar insertion rotating clamp (95) rotates to the opening position of the rebar insertion fixing clamp (94), the diameter of the space for accommodating the rebar (93) to be inserted is reduced to clamp the rebar (93) to be inserted; A spiral tooth is provided on the outer wall of the rebar inserting rotating clamp (95), and a rebar inserting locking motor (97) is fixed on the cantilever (98). The rebar inserting locking motor (97) is connected to the rebar inserting locking screw (96), and the rebar inserting locking screw (96) is meshed with the spiral tooth to drive the rebar inserting rotating clamp (95) to rotate back and forth; A rebar storage tank (92) is provided on one side of the rebar fixing clamp (94), and the rebar storage tank (92) is used to store a plurality of rebars (93) to be inserted. An opening facing the rebar fixing clamp (94) is provided on one side of the rebar storage tank (92), a rebar limiting mechanism (99) is provided at a position close to the opening of the rebar storage tank (92), and a rebar push rod (91) is provided at a position away from the opening of the rebar storage tank (92), and the rebar push rod (91) is used to push the rebar (93) to be inserted into the space of the rebar fixing clamp (94).

2. The fully automatic secondary structure rebar planting device according to claim 1 is characterized in that: The bottom of the trolley (1) is provided with a walking mechanism (102), and the trolley (1) is also provided with a supporting mechanism (101). The supporting mechanism (101) is used to support the ground to fix the position of the trolley (1) and keep the trolley (1) in a horizontal state.

3. The fully automatic secondary structure rebar planting device according to claim 1 is characterized in that: The x-direction moving platform (31) is arranged on the top of the trolley (1) through a guide rail, and is driven by a motor through a screw nut mechanism to reciprocate along the x-axis direction of the trolley (1). The y-direction moving platform (32) is arranged on the top of the x-direction moving platform (31) through a guide rail, and is driven by a motor through a screw nut mechanism to reciprocate along the y-axis direction of the trolley (1). A laser locator (14) is provided on the top of the y-direction movable platform (32), and a laser beam emitted by the laser locator (14) is vertically directed toward the top.

4. The fully automatic secondary structure rebar planting device according to claim 1 is characterized in that: A travel sensor is provided on each slide (4).

5. The fully automatic secondary structure rebar planting device according to claim 1 is characterized in that: The lifting mechanism (5) is a cylinder, a hydraulic cylinder or an electric push rod. One end of the lifting mechanism (5) is connected to the column (2), and the other end of the lifting mechanism (5) is connected to the slide (4).

6. The fully automatic secondary structure rebar planting device according to claim 1 is characterized by: The structure of the lifting mechanism (5) is as follows: a guide wheel (52) corresponding to each slide (4) is provided on the top of the column (2), and a plurality of drums (51) corresponding to each guide wheel (52) are provided below the guide wheel (52), the drum (51) is connected to the hoisting motor (56) through an elastic coupling (54) and a hoisting reducer (55), one end of the corresponding wire rope (53) is wound on the drum (51), and the other end of the wire rope (53) is passed around the guide wheel (52) and connected to each slide (4).

7. The fully automatic secondary structure rebar planting device according to claim 1 is characterized by: The structure of the drilling device (7) is as follows: the drilling device (72) is fixed on the first slide (41), the drill bit (71) is installed on the top of the drilling device (72), and the drill bit (71) is vertically pointed in the direction of the top; The structure of the hole cleaning device (8) is as follows: a gas connector (82) is fixed on the second slide (42), a hole cleaning brush tube (81) is connected to the gas connector (82), the hole cleaning brush tube (81) is vertically pointed in the direction of the top, the outer diameter of the hole cleaning brush tube (81) is smaller than the diameter of the drill bit (71), a brush is provided on the outer wall of the hole cleaning brush tube (81), the gas connector (82) is connected to the compression fan (13) through the pipeline (12), and the compression fan (13) adopts an air compressor or a centrifugal fan; A dust collecting cover (10) is further provided on the outer walls of the drill bit (71) and the hole cleaning brush tube (81), and the dust collecting cover (10) is connected to the dust collector (11) via a hose.

8. The fully automatic secondary structure rebar planting device according to claim 1 or 7, characterized in that: The structure of the glue injection device (6) is as follows: the glue cylinder (68) is fixedly connected to the third slide (43), the top of the glue cylinder (68) is connected to the glue injection tube (61), and the outer diameter of the glue injection tube (61) is smaller than the diameter of the drill bit (71); A rubber plug (62) is provided near the top of the rubber injection tube (61); A piston (63) is provided in the rubber cylinder (68), and a rubber injection screw (67) is connected to the piston (63). A rubber injection motor (66) is also provided. The rubber injection motor (66) is a through-core stepping or servo motor. The output shaft of the rubber injection motor (66) is connected to the input part of the rubber injection reducer (65). The output part of the rubber injection reducer (65) is connected to the nut (64) and drives the nut (64) to rotate. The nut (64) is threadedly connected to the rubber injection screw (67).

9. A construction method using the fully automatic secondary structure rebar planting device according to any one of claims 1 to 8, characterized in that The following steps are involved: S1, calibration, fixing the laser locator (14) on the surface of the xy platform (3) so that the laser beam of the laser locator (14) is perpendicular to the top surface; Calibrate the distance between the laser beam and the working axes of the drilling device (7), the hole cleaning device (8), the glue injection device (6) and the reinforcing bar insertion device (9) on the horizontal projection plane to obtain the working stroke of each device; S2, positioning, moving the trolley (1) to the construction site, operating the support mechanism (101) to fix and level the trolley (1), making the travel range of the xy platform (3) cover the construction range, operating the terminal or inputting coordinates, moving the xy platform (3), and aligning the laser beam with the first construction position; Operate the terminal or input coordinates in sequence to aim the laser beam at the next construction location; The control system stores each construction location; S3, execution, according to the construction steps and the calibrated working stroke, the xy platform (3) moves the working axes of the drilling device (7), the hole cleaning device (8), the glue injection device (6) and the reinforcement insertion device (9) in sequence to align with the construction position, controls the lifting devices of the drilling device (7), the hole cleaning device (8), the glue injection device (6) and the reinforcement insertion device (9) respectively, and completes the operations of drilling, hole cleaning, glue injection and reinforcement insertion at one construction position; After all operations are completed at one construction location, the xy platform (3) continues to complete the operations of drilling, cleaning, injecting glue and inserting reinforcement according to the stored construction locations; S4, construction is completed and all lifting devices return to their positions; The above steps can realize the fully automated construction of secondary structure reinforcement.

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